Disturbance Observer-Based Dynamic Surface Control for Servomechanisms with Prescribed Tracking Performance
The critical design challenge for a class of servomechanisms is to reject unknown dynamics (including internal uncertainties and external disturbances) and achieve the prescribed performance of the tracking error. To get rid of the influence of unknown dynamics, an extended state observer (ESO) is e...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/13/1/172 |
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| author | Xingfa Zhao Wenhe Liao Tingting Liu Dongyang Zhang Yumin Tao |
| author_facet | Xingfa Zhao Wenhe Liao Tingting Liu Dongyang Zhang Yumin Tao |
| author_sort | Xingfa Zhao |
| collection | DOAJ |
| description | The critical design challenge for a class of servomechanisms is to reject unknown dynamics (including internal uncertainties and external disturbances) and achieve the prescribed performance of the tracking error. To get rid of the influence of unknown dynamics, an extended state observer (ESO) is employed to estimate system states and total unknown dynamics and does not require a priori information of the known dynamic. Meanwhile, an improved prescribed performance function is presented to guarantee the transient performance of the tracking error (e.g., the overshoot, convergence rate, and the steady state error). Consequently, a modified dynamic surface control strategy is designed based on the estimations of the ESO and error constraints. The stability of the proposed control strategy is demonstrated using Lyapunov theory. Finally, some simulation results based on a turntable servomechanism show that the proposed method is effective, and it has a better control effect and stronger anti-disturbance ability compared with the traditional control method. |
| format | Article |
| id | doaj-art-a7c15416b5114c28868c61f17e7eb134 |
| institution | Kabale University |
| issn | 2227-7390 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-a7c15416b5114c28868c61f17e7eb1342025-01-10T13:18:31ZengMDPI AGMathematics2227-73902025-01-0113117210.3390/math13010172Disturbance Observer-Based Dynamic Surface Control for Servomechanisms with Prescribed Tracking PerformanceXingfa Zhao0Wenhe Liao1Tingting Liu2Dongyang Zhang3Yumin Tao4School of Automation, Nanjing University of Science and Technology, Nanjing 210094, ChinaSchool of Automation, Nanjing University of Science and Technology, Nanjing 210094, ChinaSchool of Automation, Nanjing University of Science and Technology, Nanjing 210094, ChinaBeijing Aerospace Times Laser Inertial Technology Company, Ltd., Beijing 100094, ChinaBeijing Aerospace Times Laser Inertial Technology Company, Ltd., Beijing 100094, ChinaThe critical design challenge for a class of servomechanisms is to reject unknown dynamics (including internal uncertainties and external disturbances) and achieve the prescribed performance of the tracking error. To get rid of the influence of unknown dynamics, an extended state observer (ESO) is employed to estimate system states and total unknown dynamics and does not require a priori information of the known dynamic. Meanwhile, an improved prescribed performance function is presented to guarantee the transient performance of the tracking error (e.g., the overshoot, convergence rate, and the steady state error). Consequently, a modified dynamic surface control strategy is designed based on the estimations of the ESO and error constraints. The stability of the proposed control strategy is demonstrated using Lyapunov theory. Finally, some simulation results based on a turntable servomechanism show that the proposed method is effective, and it has a better control effect and stronger anti-disturbance ability compared with the traditional control method.https://www.mdpi.com/2227-7390/13/1/172servomechanismsdisturbance rejectionextended state observer (ESO)prescribed performance functiondynamic surface control |
| spellingShingle | Xingfa Zhao Wenhe Liao Tingting Liu Dongyang Zhang Yumin Tao Disturbance Observer-Based Dynamic Surface Control for Servomechanisms with Prescribed Tracking Performance Mathematics servomechanisms disturbance rejection extended state observer (ESO) prescribed performance function dynamic surface control |
| title | Disturbance Observer-Based Dynamic Surface Control for Servomechanisms with Prescribed Tracking Performance |
| title_full | Disturbance Observer-Based Dynamic Surface Control for Servomechanisms with Prescribed Tracking Performance |
| title_fullStr | Disturbance Observer-Based Dynamic Surface Control for Servomechanisms with Prescribed Tracking Performance |
| title_full_unstemmed | Disturbance Observer-Based Dynamic Surface Control for Servomechanisms with Prescribed Tracking Performance |
| title_short | Disturbance Observer-Based Dynamic Surface Control for Servomechanisms with Prescribed Tracking Performance |
| title_sort | disturbance observer based dynamic surface control for servomechanisms with prescribed tracking performance |
| topic | servomechanisms disturbance rejection extended state observer (ESO) prescribed performance function dynamic surface control |
| url | https://www.mdpi.com/2227-7390/13/1/172 |
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